#include <iostream>
#include <vector>
#include <opencv2/opencv.hpp>
#include <eigen3/Eigen/Eigen>
#include <math.h>
class METHOD
{
    cv::Point2f rec_add;    //
    cv::Point2f center_add; //
    double t0;
    double time_before;
    Eigen::Vector2d vector_before;
    double f;

public:
    double angle;
    Eigen::Vector2d begin;
    METHOD()
    {
        f = 0.785 / 1.884;
    }
    double calculate(double time);
    void searchCenter(cv::Mat &mat);
    void calculateRadius(double time, cv::Mat &mat);
    void leadFirstVector(double time);
    double Huber(double a, double b);
};